In this step, you'll assemble the full GelSlim 4.0 sensor from its various subcomponents. After this step, the sensor will be complete and ready to be integrated into your perception pipeline.
In the following instructions, several specific components of the GelSlim 4.0 sensor body are referenced. Use the following diagram to interpret these references.
Insert the LED Harnesses into the sensor body
Note: In the following steps, be gentle with the LED Harnesses! They're fragile and shouldn't be bent or folded during insertion. Visuals for inserting the Red LED Harness are provided below.
Thread the tail of the Blue LED Harness into the blue LED cavity and out through the back of the sensor body
Note: The LEDs should face into the center of the lens cavity.
Pass the tail of the Blue LED Harness through the sensor body until you are able to rest the back of the LED array against the wall of the lens cavity
Slide the LED array along the wall of the lens cavity until it reaches the opening of the blue LED cavity
Tilt the top of the LED array in toward the center of the lens cavity and press the bottom edge of the LED array into the blue LED cavity
Press the LED array into the blue LED cavity using your fingers
Press the tip of the metal spudger into the black plastic center of the LED array and push firmly to fully seat the LED array into the blue LED cavity
Thread the tail of the Red LED Harness into the red LED cavity and out through the back of the sensor body
Note: The LEDs should face into the center of the lens cavity.
Pass the tail of the Red LED Harness through the sensor body until you are able to rest the back of the LED array against the wall of the lens cavity
Slide the LED array along the wall of the lens cavity until it reaches the opening of the red LED cavity
Tilt the top of the LED array in toward the center of the lens cavity and press the bottom edge of the LED array into the red LED cavity
Press the LED array into the red LED cavity using your fingers
Press the tip of the metal spudger into the black plastic center of the LED array and push firmly to fully seat the LED array into the red LED cavity
Thread the tail of the Green LED Harness into the green LED cavity and out through the back of the sensor body
Note: The LEDs should face into the center of the lens cavity.
Pass the tail of the Green LED Harness through the sensor body until the LED array reaches the opening of the green LED cavity
Tilt the top of the LED array in toward the center of the lens cavity and press the bottom edge of the LED array into the green LED cavity
Press the LED array fully into the green LED cavity using your fingers
Press the tip of the metal spudger into the black plastic center of the LED array and push firmly to fully seat the LED array into the green LED cavity
Insert the lens and gel pad assembly into the lens cavity
Note: If you're using a gel pad with shear tracking markers, make sure that the lens is inserted such that the green LED array will shine through the inner curvature on the lens that's aligned with the shear tracking markers, as shown below. The orientation of the lens does not matter for gel pads without shear tracking markers.
Insert the LED Driver into the sensor body, as shown below
Trim the tail of each LED Harness so that it's the right length to insert into its respective FPC connector, as shown below
Note: Trim iteratively. You can always take more off, but you can't extend the length if you take too much off.
Connect the tail of each LED Harness to the LED Driver, as shown below
Note: The connectors on the LED Driver are also delicate. Do not push against them with a lot of force.
Flip up the white latch on each FPC connector
Slide the tail of each LED Harness into its FPC connector, using tweezers to grip the tails
Flip down the white latch on each FPC connector to secure the connection
Insert the camera into the camera hole
Put the lens of the camera into the camera hole
Orient the camera and fold its ribbon cable as shown below such that it exits the sensor body through the channel
Secure the back cover
While holding down the ribbon cable, slot the back cover onto the sensor body with the countersink for the small screw facing up and the recess for the camera facing down
Use the screwdriver to fasten the back cover to the sensor body with the small screw